Calib in settings (#1543)

* test test

* yo dawg

* yo dawg 2

* yo dawg 3

* calib in ui

* no pitch and yaw

* no more drive rating

* stricter

* param is no longer a vp

* less wall of test

* less is more

* better language

* cleaner

apk/ai.comma.plus.offroad.apk

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d7b79038dccaa97d84bd38544573d3a52929770b76a259b25a27311464230e22
-size 13732809
+oid sha256:695622033fe2a531a2e263f5a0d19ee1fee8aadbad781092f71a3448bddd48d5
+size 13699616

selfdrive/locationd/calibrationd.py

@@ -24,9 +24,8 @@ INPUTS_WANTED = 50   # We want a little bit more than we need for stability
 WRITE_CYCLES = 10  # write every 1000 cycles
 VP_INIT = np.array([W/2., H/2.])
 
-# These validity corners were chosen by looking at 1000
-# and taking most extreme cases with some margin.
-VP_VALIDITY_CORNERS = np.array([[W//2 - 120, 300], [W//2 + 120, 520]])
+# These values are needed to accomodate biggest modelframe
+VP_VALIDITY_CORNERS = np.array([[W//2 - 63, 300], [W//2 + 63, 520]])
 DEBUG = os.getenv("DEBUG") is not None
 
 
@@ -38,8 +37,8 @@ def is_calibration_valid(vp):
 def sanity_clip(vp):
   if np.isnan(vp).any():
     vp = VP_INIT
-  return np.array([np.clip(vp[0], VP_VALIDITY_CORNERS[0,0] - 20, VP_VALIDITY_CORNERS[1,0] + 20),
-                   np.clip(vp[1], VP_VALIDITY_CORNERS[0,1] - 20, VP_VALIDITY_CORNERS[1,1] + 20)])
+  return np.array([np.clip(vp[0], VP_VALIDITY_CORNERS[0,0] - 5, VP_VALIDITY_CORNERS[1,0] + 5),
+                   np.clip(vp[1], VP_VALIDITY_CORNERS[0,1] - 5, VP_VALIDITY_CORNERS[1,1] + 5)])
 
 
 def intrinsics_from_vp(vp):
@@ -69,10 +68,7 @@ class Calibrator():
     if calibration_params:
       try:
         calibration_params = json.loads(calibration_params)
-        if 'calib_radians' in calibration_params:
-          self.vp = vp_from_rpy(calibration_params["calib_radians"])
-        else:
-          self.vp = np.array(calibration_params["vanishing_point"])
+        self.vp = vp_from_rpy(calibration_params["calib_radians"])
         if not np.isfinite(self.vp).all():
           self.vp = copy.copy(VP_INIT)
         self.vps = np.tile(self.vp, (INPUTS_WANTED, 1))